Fast identification method to control a flexible manipulator with parameter uncertainties

摘要

In this article, we propose a fast on-line closed loop identification method of continuous-time combined with an output feedback controller of the generalized proportional integral type (GPI), for the control of an uncertain flexible robotic arm with unknown mass at the tip, including a Coulomb friction term in the motor dynamics. A fast, non-asymptotic, algebraic identification method is used to identify the unknown system parameter and update the designed certainty equivalence GPI controller. In order to verify this method several informative experiments are shown.